Positioning device



Nov. 24, 1959 HARKER ETAL 2,913,922

POSITIONING DEVICE Filed Nov. 27, 1957 4 spans-sheet 1 INVENTOR. JOHN J. LYIVOTT f 2 BY JOHN M. HARKER 1959 J. M. HARKER EI'AL 2,913,922

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POSITIONING DEVICE 4 Sheets-Sheet 2 Filed NOV. 27, 1957 Nov. 24, 1959 RKER E 2,913,922.

POSITIONING DEVICE 4 Sheets-Sheet 3 Filed Nov. 27, 1957 Nov. 24, 1959 J. M. HARKER ETAL 2,913,922

POSITIONING DEVICE 4 Sheets-Sheet 4 Filed NOV. 27, 1957' United StatesPatent 2,913,922 POSITIONING DEVICE John M. Harker, Palo Altorand John'J. Lynott, Los

Gatos, Calif., assignors to International Business Machines Corporation, New York, N.Y., a corporation of NewYork I Application November 27, 1957, Serial No. 699,421 13 Claims. (Cl. 74-501 This invention pertains to a positioning device and more particularly to a positioning device capable of accumulating several input-displacements to produce a single output displacement.

In its simplest form, a flexible cable is provided comprised of a pair of coaxial tubes disposedin the shape of a U, i.e., the cable is bent double to form an arcuate loop between its ends. Both the'inner tube and the outer tube have one free and one fixed end, the free end of one being at the-fixed end of 'the other and vice versa. Thus, at one extremity 'of the cable, the outer tube is free to move while the inner tube is secured to a stationary member, the reverse being .true at the other cable extremity. If the free end-of the outer tube is driven toward the .fixed end ofthe inner tube (these two points being at the same cableextremity), the free end of the inner tube will emerge from the fixed end of the outer tube. On the other hand, driving the outer tube in the opposite direction will retract the inner tube. With a cable arrangement of this kind, it becomes possible to position a member remotely by a given displacement and subsequently to add or, subtract additional displacements. to drive it to new locations without first returning to a zero, reset or home location. 1

Therefore, it is an object of this invention to provide a non-return-to-zero positioning device.

It is another object of this invention to provide a device for effecting positioning at remote locations.

It is another object of this invention, for reasons of economy, to provide a remote positioning device which is simply constructed.

By employing a wire free to move at both ends within the inner tube of the basic cable element above, a coarsefine positioning device is provided which is capable of efiecting that number of discrete positions equal to the product of the number of coarse and fine positions.

Therefore, it is another object of this invention to provide. a coarse-fine positioning device.

By properly combining several of .these three-member elements, a positioning device is provided which is capable of performing analogaddition of several discrete inputs, such as from a binary code.

Therefore, it is another object of thisinvention to provide a positioning device which accumulates several inputs. r

In the prior art of photographic datarecording and storage devices requiring document retrieval wherein a particular photographic film strip is to be withdrawn a selected finite distance from a storage bin (in order to place a given line of data on the strip in registration with a reading or recording station), certain elaborate mechanisms have been employed to perform the foregoing retrieval and registration functions. Howevenby providing the previously described novel three-member element with a pair of jaws actuated by the interior wire of the element, as will be described below, an extremely simple retrieval device for the above functions is achieved.

Therefore, it is another objectof invention to 2,913,922 Patented Nov. 24, 195 9 ice 2 provide a simplified document retrieval positioning device.

Due to the flexible nature of this kind of retrieval device, the control station for retrieving and positioning the strip may remain at a fixed remote location while only the jaw-end of the cable is moved into position over the selected document to be retrieved.

It is another object of this invention, therefore, to provide a flexible, remotely actuated document retrieval and positioning device.

Other objects of the invention will be pointed out in the following description and'claims and illustrated in the accompanying drawings which disclose, by way of example, the principle of the invention and the best mode which has been contemplated of applying that principle.

In the drawings:

Fig. 1 shows a simple three-member cable unit for adding two input displacements.

Fig. 2 is an enlarged view of the output end of the cable unit of Fig. 1 shown in an actuated condition.

Fig. 3 shows a combination of three-member cable 1 units coupled together to provide a non-return-to-zero binary adder and positioning device.

Fig. 4 is an enlarged sectional view of a claw attachment for use with the cable'units of Figs. 1 and 3 to provide the document retrieval means shown in Fig. 5.

Fig. 5 is ,a perspective view illustrating a document retrieval application of the invention employing the claw of'Fig. 4. i

Fig. 6 is an elevation view in partial section of the apparatus of Fig. 5 along line 6 6 of Fig. 5, showing theclaw thereof in a traveling position and an insert position.

Fig. 7 is a view similarto Fig. 6 along line 7-7 of Fig. 5 showing a film strip being positioned to the twentythird line thereof.

Fig. 8 shows a filmstrip. I Referring to the drawings, and particularly to Figs. 1 and 2,.,the embodiment of the invention disclosed therein comprises an outer flexible tube 10 and an inner flex- I ible tube. 11. Tube 10 is held at one end 12 by a support 14 welded thereto, support 14 being in turn fastened by screw v17 to an output scale member 16. The distal end 18 of tube 10 is free to'move'linearly with respect to an input-scale member 20. To measure the amount of linear movement of end 18 with respect to member 20, a scale 21 having widely separated scribe marks is provided upon member 20. A pointer 22, for registering on scale 21, is welded to tube 10 so that as end 18 moves linearly, pointer 22 attached thereto registers its displacement on scale 21. Pointer 22 is provided with a handle orv extension 23 to connect end 18 to any suitable driving means (not shown).

Tube 11 is coaxial with tube 10 and free to move linearly with respect thereto. Tube 11, however, is held stationary at distal end 18 of outer tube 10 by a support 24 screwedto member 20. Finally, distal end 28 of tube 11 is free to move at proximal end 12 of tube 10.

Coaxial tubes 10 and 11 are bent double so as'to be disposed in the shape of a U. By thus arranging the two tubes, anydownward motion applied via extension 23 to end-18 drives end 28 out of tube 10 a proportionate amount as measured on a scale 41 on member 16. The proportion depends upon the number of degrees in are" 29 controlling the divergence of the sides of the U. In the disposition shown in Fig. 1, are 29 is and ends 12 and 18 are parallel. This provides a one-to-one 1 an equal amount (also shown in invisible lines) as measured on scale 41.

In addition to the foregoing, it has been discovered that a wire (although free at each end) within tube 11 will not move relative to tube 11 during POSltlOIllIlg thereof as described above. Therefore, by incorporat ng a free wire 30 within tube 11, a dual input positioning device is provided.

Such a flexible wire 30 is employed and arranged coaxially within tube 11. An indicator 32 similar to pointer 22 is secured to wire 30 at the proximal end of tube 11. Associated with indicator 32 on member 20 is a scale 31 for registering the amount of downward displacement of wire 30. The output displacement of wire 30, as measured on scale 41, is equal to its input displacement.

By making the maximum wire displacement equal to the minimum displacement of tube 11, and by further subdividing the maximum wire displacement into several discrete units, the dual input device can be used as a coarse-fine positioning means. This feature is demonstrated by a comparison of scales 21, 31 and 41. Scales 21 and 31 are each divided into four discrete units, one unit on scale 21 being equal to four on scale 31. Scale 41 is divided into twenty equal units, each unit equaling one unit on scale 31. Therefore, combined input displacements applied via pointer 22 and indicator, 32 will register on output scale 41.

To illustrate, assume that it is desired to move the tip of wire 30 by eleven units. To do this, pointer 22 (and tube are driven to the second scribe mark on scale 21 (i.e., 8 units on scales 31 and 41) shown by invisible lines in Fig. 1. This movement lowers are 29 to its position shown by dotted lines thereat, and thereby tube 11 and wire 30 are forced together out end 12 by eight units (shown also in invisible lines). Pointer 32 (and wire 30) are moved three units on scale 31. Therefore, these three units are added to the above eight units so that the tip of wire 30 is adjacent the eleventh scribe mark on scale 41. To illustrate this extended condition of the coaxial elements more clearly, Fig. 2 represents the position of end 12 shown by the dotted lines in Fig. 1, enlarged five times.

Referring specifically to Fig. 3, the basic three-element unit of Fig. 1 has been there combined in anovel manner to provide a binary adder flexibly coupled. It is to be understood that identifying numerals bearing a prime mark or marks refer to members similar to members shown in Fig. 1.

The binary adder of Fig. 3 is primarily comprised of a pair of three-element units, as above described, designated generally 39 and 40. Only two units are employed, however, for purposes of illustration since it is to be understood that any number of units may be so combined depending upon the desired number of output positions required for a particular application. Unit 39 is secured to input scale member 20' via a bracket 42 fastened to tube 11'. Unit 39 is further secured to output scale member 16' by bracket 45 fastened to tube 10'. Member 20' is screwed to a suitable stationary structure or frame 44 while member 16 may be fixed or free to be driven as desired.

The distal end of outer tube 10' is provided with a pointer 22'. Tube 10 with pointer 22 is free to move linearly eight increments with respect to member 20' as indicated by pointer 22 registering with a suitable scale on member 20. In addition, wire 30 is free to move four increments as registered by indicator 32' on its associated scale. The output of wire 30' is connected to unit 40 via a collar 47 (abutting the tip of tube 11) fixed to wire 30', a projection 48 integral with tube 10" a d a cotter pin 49 inserted through a hole in the tip of wire 30'.

Thus, by actuating either wire 30' or tube 10" or both,

the output end of unit 40 can be driven four, eight, or twelve increments respectively with respect to member 16 as measured by a scale thereon. This movement is further combined with increments of one and two provided by unit 40 now to be described.

Unit 40 is secured to member 20' by a bracket 52 which grips tube 11". Tube 10" is free to move two increments as measured by a pointer 22" at its free end, and wire 30" is free to move one increment. To illustrate the operation of the binary adder of Fig. 3, assume that it is desired to position the output tip of wire 30 fifteen increments, i.e., to its fully extended position.

Tube 10 is driven toward bracket 42 eight increments. This movement moves the arc of unit 39 until it reaches the arcuate position shown by the dotted lines designated a. At the same time that the arc of unit 39 is being displaced, tube 11' is emerging at the output end of unit 39 to the position designated by dotted lines 12. This movement of tube 11' displaces unit 40, connected thereto, to the position shown by dotted lines 0 (arc) and d (tip of tube 10").

Four more increments are next added by displacing wire 30'. This causes projection 48 to be driven four increments to the dotted position designated e, and tube 10" to position The remaining binary inputs (1 and 2) required to provide a binary adder limited to fifteen increments are supplied by unit 40 which functions in a manner similar to that of the unit 39. In short, tube 10" is actuated two increments driving tube 11" to the g position (and the arc of tube 10" to the h position). Wire 30" provides a displacement of one increment as marked by the letter j. Thus, the tip of wire 30" has now been moved fifteen increments as measured on the scale adjacent thereto at its output end. It is to be understood that wire 30" can be positioned any number of increments from one to fifteen omitting selected combinations of inputs one, two, four and eight. For example, if the output displacement is to be eleven, then the four input is not actuated.

Referring now to Figs. 4-8 and particularly to Fig. 5, the utility of such a positioning device as just described is demonstrated in the document storage and retrieval application thereshown schematically. The storage arrangement shown comprises a bin 50 containing many film strips 51 arranged in cells 52. Each film strip 51 is held in its proper place by slots 54 formed in the sides of cells 52. A recording and reading station 55, schematically represented by box 55a and lens 55b, is arranged to travel laterally of and just above bin 50 for the purpose of reading from or recording upon a selected strip 51.

The structure described above with respect to Fig. 3, with certain below described modifications, is used for withdrawing a selected strip 51 from its cell 52 by that amount necessary to place any particular record line in registration with station 55. A claw 57 (see Fig. 4) at the output end of unit 40 of the structure of Fig. 3 is provided for gripping strips 51 in the application shown in Fig. 5.

As shown in Fig. 4, claw 57 is connected to tube 11" as by soldering and is comprised of a pair of spring steel jaws 58 spring loaded together. For opening jaws 58, a wedge 59 is provided on the end of wire 30". Actuating wire 30" in the direction of the arrow shown thereon will open claw 57'by forcing jaws 58 apart. The open or actuated position of claw 57 is shown by invisible lines in Fig. 4.

In order to'place claw 57 in position over any particular film strip 51, the output end of the positioning device is secured to a cross-head member 60 (slidably mounted on each of two mutually perpendicular rods 62 and 63 for movement along orthogonal axes) by welding tube 10 thereto. Rods 62 and 63 may be driven by any suitable means (notshown).

Referring to Fig. 8, strips 51 have a recording area 80 divided into 52 horizontal data record lines (for purposes of illustration) and a top margin 81 for providing a blank space where claw 57 can safely grip strip 51 without damaging record area 80.

The control panel of the device of Fig. is designated generally by arrow 70. Located thereon are three scales, coarse, intermediate and fine, associated with pointer 22, indicator 32 and pointer 22", respectively. To indicate the condition of jaws 58, a pair of scribe marks are placed adjacent indicator 32" on panel 70 and marked open and close, respectively.

Figs. 6 and 7 show in detail the traveling end of units 39 and 40 in various stages of positioning. As shown in Fig. 6 in solid lines, claw 57 is at its most fully extended condition which will allow the top line of a strip 51 to be placed in registration with station 55. Therefore, this condition will be referred to as the zero position. It can also beused as. a traveling position since it allows claw 57 to clear bin 50. For the foregoing reason, the top line of strips 51 is designated "0 rather than 1".

The zero position locations of the inputs on panel 70 (corresponding to the zero position of the output of units 39 and 40, as shown in solid lines in Fig. 6) are shown by the dotted lines on panel 70'associated with the three scales thereon. Fig.6, claw 57 is shown having been inserted deep enough into bin 50 to allow jaws 58 to grip a strip 51 at its margin 81. t

Fig.- 7 demonstrates the condition of the traveling end of the apparatus as it holds line 23 of a selected strip in registration between box 55a and lens 55b. This condition corresponds to the input condition shown on panel 70 (in solid lines) by pointers 22' and 22" and indicator 32'.

In operation, in order to extract a strip 51 out of bin 50, to the twenty-third line thereof, member 60 is driven by rods 62and 63 to the desired strip location. Wire 30" is driven until pointer 32" is oppositethe scribe mark indicating the open position of jaws 58.

Tube 10 is then actuated beyond zero down to the position marked .insert on panel 70. This extends tube 11" down into bin 50, and passes jaws 58 (which are spread apart) down over margin 81 at the top of strip 51. By retracting wire 30 to the close position, wedge 59 is withdrawn allowing jaws 58 to clamp strip 51 firmly therebetween,

In this condition, it is only necessary to apply the desired inputs on panel 70 to select any line between 0 and 52 on the strip being held. In the example, line 23 of strip 51 is to be placed in registration with station 55, therefore, pointer 22 is placed opposite "16 on the coarse scale. Indicator 32' is moved opposite 4 on the intermediate scale, thereby adding four increments to the above sixteen. Pointer 22" is driven to 3 on the fine scale, thereby producing a total retraction of strip 51 by twenty-three increments or lines.

Apparatus, such as just described, could also'be employed in the handling of other materials, such as radioactive materials, where the control station must be located some distance away from the materials handled.

While there have been shown and described andpointed out the fundamental novel features of the invention as applied to the preferred embodiment, it will be understood that various omissions and substitutions and changes in the form and details of the device illustrated and in its operation may be made by thoseskilled in the art, without departing from the spirit of the invention. It is the intention, therefore, to be'limited only as indicated by the scope of the following claims.

What is claimed is:

1. A multiple input positioning device comprising a coaxial cable including a first elongated flexible member, a second elongatedflexible member, and a thirdelongated flexible member, said members being coaxially clisplace- 25 Illustrated by dottedlines in .able relative to each other, means for restraining a first end portion of said'cable, said first portion restraining means being coupled to said first member, means for restraining a second end portion of said cable, said second portion restraining means being coupled to said second member, said third member being free to move at both ends of said cable whereby displacements applied to a plurality of said members are combined.

2. A multiple input positioning device comprising a coaxial cable including an outer elongated flexible member, an inner elongated flexible member, and a flexible tube coaxially intermediate said members, means for holding one end portion of said cable, said means being attached to said tube, means holding another end portion of said cable, said means being attached to one said member, the other member being free to move at each end thereof, each of said members being slidable with respect to said tube, whereby displacements of said tube and said members are combined.

3. A multiple input positioning device comprising a coaxial cable including an outer elongated flexible member, a first inner elongated flexible member, and a second inner elongated flexible member, said members being displaceable relative to each other, a first means for restraining said cable at one end portion thereof, said first means being coupled to said outer member, and a second means for restraining said cable at its other end portion, said second means being coupled to said first inner member, said second inner member being free to move at each end,

thereof, whereby displacements applied to two said members are combined.

4. A multiple input positioning device comprising a plurality of cable arrangements, each said arrangement including an input and an output portion thereof, each said arrangement comprising an outer elongated flexible member, an inner elongated flexible member, and a flexible tube coaxially intermediate said members, said members being displaceable with respect to each other, said arrangements being coupled in tandem at theoutput portion thereof by attachment of said inner member of one said arrangement to said outer member of an adjacent said arrangement, means coupled to the said outer member of one of said arrangements for holding said arrangement at the output portion thereof, whereby displacements applied to said members are combined.

5. A multiple input positioning device comprising a first cable arrangement and a second cable arrangement, each said arrangement including an input and an output portion thereof, said first arrangement including an outer flexible member, an inner flexible member, and a flexible tube coaxially intermediate said members, said members being displaceable with respect to one another, said second arrangement comprising an outer flexible member and an inner flexible member, said members being coaxial and displaceable with respect to one another, means for restraining the input 'portion of said first arrangement, said means being coupled to said tube, means for restraining the input portion of said second arrangement, said second arrangement restraining means being coupled to the inner member of said second arrangement, said first arrangement being coupled in tandem at said output portion to said second arrangement by attachment of said inner member of said first arrangement to said outer memberof said second arrangement, and means for holding the said outer member of said first arrangement at the output portion thereof, said means being coupled to said outer member of said arrangement, whereby displacements applied to said members are combined.

6. A multiple input positioning device comprising a plurality of cable units, each said unit including an input and an output end'portion thereof, said units comprising an outer elongated flexible member, a first inner elongated flexible member and a second inner elongated flexible member,.said members being slidably arranged,

means for holding said units at the input portion thereof, said holding means being coupled to said first inner members of said units, means for coupling said units in tandem at the output portions thereof, the last said coupling means attaching said second inner member of one said unit to said outer member of an adjacent said unit, and means coupled to one of said outer members of one of said units for restraining the output end portion thereof, whereby displacements applied to said members are combined.

7. A multiple input positioning device comprising a plurality of cable units, each said unit including an input and an output end portion thereof, said units comprising an outer elongated flexible member and an inner elongated flexible member, said members being slidable relative to each other, means for holding said units at the input portion thereof, said holding means being coupled to said inner members of said units, said units being coupled in tandem at the output portion thereof by attachment of said inner member of one said unit to said outer member of another said unit, and means for anchoring one of said outer members at the output end portion thereof, said anchoring means being coupled to said one of said outer members, whereby displacements applied to said members are combined.

8. A multiple input positioning device comprising a plurality of cable units, each said unit including an input and an output end portion thereof, said units comprising an outer elongated flexible member and a first and second inner elongated flexible member coaxial with said outer member, said members of each unit being displaceable relative to the other said members thereof, means for inhibiting movement of the first inner members of said units at the input end portions thereof, said means being operably joined to said first inner members, said units being coupled in tandem at the output end portion thereof by attachment of said second inner member of one said unit to said outer member of an adjacent said unit, and means for inhibiting movement of one of said outer members at the output end portion thereof, said inhibiting means being operably joined to said one of said outer members, whereby displacements applied to said members are combined.

9. A multiple input positioning device comprising a first cable unit and a second cable unit, said units having an input and an output end portion thereof, said first unit comprising an outer elongated flexible member and a first and second inner elongated flexible member, said first unit members being coaxial and displaceable relative to one another, said second unit comprising an outer elongated flexible member and a first inner elongated flexible member, said second unit members being coaxial and displaceable relative to one another, means for holding said input end portions of said units, said holding means being attached to said first inner members of said units, said units being coupled in tandem at the output end portions thereof by attachment of said second inner member of said first unit to said outer member of said second unit, and means for restraining the outer member of said first unit at the output end portion thereof, said restraining means being coupled to said outer member, whereby displacements applied to said members are combined.

v 10. A multiple input positioning device comprising a first cable unit and a second cable unit, each said unit including an input and an output end portion thereof, each said unit comprising an outer elongated flexible member and a first and second inner elongated flexible member, all of said members within a unit being mutually coaxial and each of said members being displaceable relative to the other said members, means for holding one member of each of said units stationary ,at said input end portions thereof, said holding means being attached to said first inner members of said units, said units being coupled in tandem at the output end portions thereof by attachment of said second inner member of said first unit to said outer member of said second unit, the outer member of the first said unit being held stationary at the output end portion thereof, and means for grasping an object, said means being coupled to said first inner member of said second unit, said grasping means being actuated by said second inner member of said second unit, whereby said grasping means is positioned in accordance with the combined displacements applied to said members.

11. A multiple input positioning device comprising a first cable unit and a second cable unit, each said unit including an input and an output end portion thereof, each said unit comprising an outer elongated flexible member and a first and second inner elongated flexible member, all of said members within a unit being mutually coaxial and each of said members being displaceable relative to the other said members, means for holding a member of each of said units stationary at said input end portions thereof, said holding means being coupled to said first inner members of said units, said units being coupled in tandem at the output end portions thereof by attachment of said second inner member of said first unit to said outer member of said second unit, the outer member of the first said unit being held stationary at the output end portion thereof, and jaws coupled to said first inner member of said second unit, said jaws being actuated by said second inner member of said second unit to grip an object between said jaws, whereby said jaws are positioned in accordance with the combined displacements applied to said members.

12. A multiple input positioning device comprising a coaxial cable disposed to include an are intermediate the end portions thereof, including an outer elongated flexible member, a first inner elongated flexible member, and a second inner elongated flexible member, said members being displaceable relative to each other, a first means for restraining said cable at one end portion thereof, said first means being coupled to said outer member, and a second means for restraining said cable at its other end portion, said second means being coupled to said first inner member, said second inner member being free to move at each end thereof, whereby displacements applied to two said members are combined.

13. A multiple input positioning device comprising a first cable unit and a second cable unit, said units having an input and an output end portion thereof, said units being disposed to provide a U-shaped are intermediate said portions, said first unit comprising an outer elongated flexible member and a first and second inner elongated flexible member, said first unit members being coaxial and displaceable relative to one another, said second unit comprising an outer elongated flexible member and a first inner elongated flexible member, said second unit members being coaxial and displaceable relative to one another, means for holding said input end portions of said units, said holding means being attached to said first inner members of said units, said units being coupled in tandem at the output end portions thereof by attachment of-said second inner member of said first unit to said outer member of said second unit, and means for restraining the outer member of said first unit at the output end portion thereof, said restraining means being coupled to said outer member, whereby displacements applied to said members are combined.

References Cited in the file of this patent UNITED STATES PATENTS 2,116,651 Ackerson May 10, 1938 2,274,071 Kelley Feb. 24, 1942 FOREIGN PATENTS $79 ,266 Great Britain July 29, 1946 745,253 Great Britain Feb. 22, 1956 

